US5327058A - Method of control for an industrial robot - Google Patents

Method of control for an industrial robot Download PDF

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Publication number
US5327058A
US5327058A US08/015,681 US1568193A US5327058A US 5327058 A US5327058 A US 5327058A US 1568193 A US1568193 A US 1568193A US 5327058 A US5327058 A US 5327058A
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United States
Prior art keywords
data
work tool
controlling
industrial robot
teaching
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US08/015,681
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English (en)
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Tatsuya Rembutsu
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Tokico Ltd
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Tokico Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36482—Recording of position and of command instructions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45013—Spraying, coating, painting

Definitions

  • the present invention relates to a method of control for an industrial robot, especially an advantageous control method used in industrial robots having attached thereto and using work tools having a plurality of work states (for example, a spray gun having a state in which it sprays paint and a state in which it does not spray paint).
  • work tools having a plurality of work states (for example, a spray gun having a state in which it sprays paint and a state in which it does not spray paint).
  • This type of industrial robot comprises a robot body which moves and operates work tools attached thereto and a control apparatus which controls the movement of the robot body and the work tools.
  • the automatic control exercised by this control apparatus is carried out based on an operational program stored in tile control apparatus, which is created by the teaching operation.
  • the data for the switching of the operation state of the work tool (for example, if the work tool is a paint gun, the data on whether or not paint is sprayed) are established, in the case of a PTP (point-to-point) teaching method, for each teaching point as the data in the operation program at the time of the instructed operation.
  • PTP point-to-point
  • the form of the data of a conventional operation program at the time when a spray gun 1 attached to a robot body 2 carries out the painting operation shown by path 4 with respect to work 3 is in the form shown in FIG. 6. That is to say, position data 5, which show the posture of the robot body at each point of teaching, transfer data 7, which show the transfer state to the next teaching point (the transfer speed, etc.), and movement data 6 of the work tool (for example, a spray gun) are established for each teaching point, and memory area is secured for the movement data 6 of the work tools at each teaching point as well.
  • the teaching operation is carried out by the successive storing of the characteristic points of the operational path by the operator. That is to say, the robot body 2 is operated manually, and point P1 is first instructed. Next, point S1, at which painting begins (spray gun is turned on), point S2, at which painting stops (spray gun is turned off), points P2 and P3, at which the path changes, points S3 and S4, at which the painting is turned on and off, point P4, at which the path changes, etc., which indicate the posture of the robot and the state of operation of the spray gun (that is, operation data 6), are instructed, and the operation program thus created.
  • the method of control of industrial robots of the present invention is a control method for industrial robots which transfers a work tool and switches the operation state of the work tool; it is characterized in that it teaches the first data, which determine the path of the robot, and the second data, which determine the position of the switching of the state of operation of the work tool in the path, and controls the operation of the work tool by means of the switching of the operational state of the work tool based on the second data during the operation, based on the first data, of the robot.
  • the second data are read out and a decision is made as to whether the operational state of the work tool should be switched or not, and the switching of the operational state of the work tool is carried out.
  • the number of data to be established as the data for the switching of the operational state of the work tool are limited to a number corresponding to the number of times the operational state of the work tool is switched, so that this represents an improvement.
  • the number of robot body position data are limited to a number corresponding to the number of times the path changes, so that this represents an improvement; in comparison with previous control methods in which teaching points, comprising both points at which the operational state of the work tool changed and points at which the path changed, were individually established, the memory area required for these data can be remarkably reduced.
  • the data for the control of the work tool are confirmed and the operational state of the work tool is switched at each sampling cycle for the purpose of the control of the robot body, so that it is possible to determine and finely control the operation of the work tool in the same way as the operation of the robot body.
  • the number of data to be established in the teaching operation is remarkably smaller than in conventional methods, so that the following effects are achieved.
  • the operation of the work tool can be determined and finely controlled in the same way as the operation of the robot body, so that the quality of the work is improved.
  • FIGS. 1 to 3 are diagrams showing a preferred embodiment of the present invention.
  • FIG. 1 shows a painting robot in an operational state
  • FIGS. 2(a) and 2(b) are memory concept diagrams explaining the first and second data respectively.
  • FIG. 3 is a control PAD diagram of the time of the robot regeneration operation.
  • FIGS. 4(a) and 4(b) are diagrams for the explanation of another preferred embodiment of the present invention; they are memory concept diagrams for the explanation of the first and second data.
  • FIGS. 5 and 6 are diagrams for the explanation of the background art
  • FIG. 5 is a memory concept diagram of the CP teaching program
  • FIG. 6 is a memory concept diagram of the PTP teaching program.
  • a teaching regeneration type robot with a normal PTP teaching regeneration method which is provided with a six axis, multi-jointed robot body, a control apparatus 25 including timing means 27 which controls this robot body, and a teaching box which allows an operator to send various types of directives to the control apparatus from a different place. That is, it is possible to use an industrial robot with a method in which the operator operates the teaching box while watching the robot body, and while moving the robot body by manual operation, establishes various types of data in the control apparatus at fixed positions (fixed postures of the robot body), thereby creating a desired operational program within the memory of the control apparatus.
  • the teaching mode time regeneration function a function which permits the tracing of a path based on the positional data taught in the teaching mode (the state in which the teaching operation is possible) and the operation of robot body 2 at an appropriate speed in a forward or backward direction be provided in the control apparatus 25.
  • the teaching mode time regeneration function a function which permits the tracing of a path based on the positional data taught in the teaching mode (the state in which the teaching operation is possible) and the operation of robot body 2 at an appropriate speed in a forward or backward direction.
  • path 4 shows the transfer rout of the target positions of spray gun 1.
  • the robot is started in the teaching mode, attention is given solely to the movement of robot body 2 (the movement which moves spray gun 1 along path 4), robot body 2 is operated manually and the positional or transfer data corresponding to point P1 is taught, and then the points P2, P3, P4, . . . at which the path similarly changes are successively taught.
  • robot body 2 is moved along path 4 using the teaching mode time regeneration function, and operational data are taught at the positions S1, S2, S3, and S4, at which the operational state of the work tool is switched.
  • robot body 2 is moved manually and moved to point P1.
  • the forward movement key (a switch for the purpose of moving the robot body 2 in a forward direction by engaging the teaching mode time regeneration function) is depressed, and the robot body 2 moves from point P1 to point P2.
  • the spray-on key is depressed and work tool operation data established.
  • the spray-on key is a switch for the purpose of establishing data (operational data 11 mentioned below) which switch the operational state and the state of the spraying of the paint; when the spray-on key is depressed, time data 10 mentioned below are also automatically established in correspondence with the previous data. It is preferable that the forward movement key and the spray-on key be provided on the teaching box.
  • the forward movement key is depressed and the robot moved from point P1 to point P2, and when the position of the beginning of painting S1 is reached, the forward motion key is released and the spray-on key is depressed while the robot is stopped at the point S1.
  • the robot body 2 is moved forward while tracing the path 4, and in the same way the backward movement key (a switch having the opposite function to that of the forward movement key; it is of course also preferable that it be provided on the teaching box) is depressed, the robot body 2 moves in a backward direction (in other words, for example, the direction from point P2 to point P1), the robot is moved precisely to the position of the beginning of painting, and then the spray-on key is depressed and the operational data for the beginning of painting are taught. Then, furthermore, the points S2, S3, and S4, which are points of the beginning or ending of painting, are successively taught in the same way, and the teaching of the operational program for the painting operation shown in FIG. 1 is finished.
  • the backward movement key a switch having the opposite function to that of the forward movement key; it is of course also preferable that it be provided on the teaching box
  • the operational data of this robot body 2 and the operational data of spray gun 1 are stored, for example, in the control apparatus 25 in the data format shown in FIG. 2(a) and FIG. 2(b).
  • the operational data of robot body 2 (first data) are, as shown in FIG. 2(a), placed in a data format in which transfer data 9 are made to correspond to position data 8 of the robot body 2 at each taught point P1, P2, P3, P4, . . . .
  • the operational data of spray gun 1 (second data) are, as shown in FIG. 2(b), placed in a data format in which the operational data 11 of spray gun 1 are made to correspond to time data 10 which are expressed by the times (concretely, the number of the sampling period, for example) at which the robot body 2 reaches each instruction point S2, S3, S4 , . . . after starting from point P1.
  • the control of the robot body 2 is carried out at previously established time intervals (sampling periods), the posture of robot body 2 in every time interval in which control is to be exercised is calculated from the posture at points P1 and P2 (in other words, an interpolation calculation is carried out), control signals are determined in correspondence with the calculated posture data, these are successively outputted in the time intervals from the control apparatus 25 to robot body 2, and by means of this, operation is carried out between points P1 and P2. In this way, robot body 2 moves smoothly along the taught path 4.
  • control of spray gun 1 checks, when the robot body is performing regeneration operations, the operational data of the spray gun shown in FIG. 2(b) at each sampling period; when time data 10 are in agreement with the present moment, a control signal corresponding to operational data 11 is outputted from the control apparatus to spray gun 1 or the mechanisms near spray gun 1, and the operational state of spray gun 1 thus switched.
  • step F2 is proceeded to; if MF is "0", no action is taken and processing is ended.
  • step F3 is proceeded to; if point number P is greater than 0, step F7 is proceeded to.
  • the present position data of robot body 2 is established in point data PH1, which shows the beginning point of the interpolation calculation, and step F4 is proceeded to.
  • Point number SP which shows the number of the operation taught points S1, S2, . . . and point number P are set to "1", indicating the first point, interpolation point number S is set to "0", and step F5 is proceeded to.
  • Point data PH2 showing the arrival point of the interpolation calculation, is set in correspondence with point number P (that is, in this case, the data of point P1 of positional data 8 step shown in FIG. 2(a)), and step F6 is proceeded to.
  • step F7 An interpolation number of the path data from a position in correspondence with point data PH1 to a position in correspondence with PH2 (in this case, taught point P1) is calculated, and step F7 is proceeded to.
  • step F8 is proceeded to, while in the case where it has not reached this number, step F16 is proceeded to.
  • step F9 is proceeded to, while if this is not so step F10 is proceeded to.
  • Movement flag MF is set to "0", robot body 2 is placed on stand by, and step F10 is proceeded to.
  • Point data PH1 of the beginning point of interpolation is set to positional data 8, which is shown by point number P, and step F11 is proceeded to.
  • step F13 is proceeded to, while in the case where P does not exceed N, step F14 is proceeded to.
  • Point number P is set to "1"
  • step F14 is proceeded to.
  • Point data PH2 which shows the arrival point of the interpolation calculation, is set to positional data 8, which is in correspondence with point number P, and step F15 is proceeded to.
  • step F16 is proceeded to.
  • a control signal corresponding to the positional data shown by interpolation point number S is outputted to robot body 2, and step F17 is proceeded to.
  • step F18 is proceeded to.
  • step F19 is proceeded to, while if they are not, step F23 is proceeded to.
  • a control signal is outputted in response to time data 11, which correspond to point number SP, the operational state of spray gun 1 is switched, and step F20 is proceeded to.
  • step F21 is proceeded to.
  • interpolation point number S is increased by one, and processing is ended.
  • steps F3-F6 are path calculation processing from the start time to taught point P1
  • steps F10-F15 are path calculation processing between taught points
  • steps F1, F2, F7-F9, F16, and F23 are control processing of robot body 2
  • steps F17-F21 are control processing of spray gun 1.
  • steps F1-F23 By means of the processing of steps F1-F23 as explained above, first, when started, the path from the present position of robot body 2 to taught point P1 is calculated, robot body 2 is moved to taught polar P1 and placed in a standby state. After this, when the start of regeneration is directed and movement flag MF becomes "1", the interpolation points along path 4, which is made up of taught points determined by positional data 8, are successively calculated, a control signal corresponding to the positional data of these interpolation points is outputted at each sampling cycle, and robot body 2 moves smoothly along path 4.
  • the path calculation (interpolation calculation) was included in the control processing of robot body 2 and spray gun 1 shown in FIG. 3; however, it is acceptable to perform this with a different routine.
  • the number of data 10 and 11 to be set as data for the switching of the operational state of a work tool improves only by an amount corresponding to the number of times the operational state of spray gun 1 (work tool) is switched. Furthermore, the number of positional data 8 and 9 of robot body 2 improves only by an amount corresponding to the number of times path 4 changes; as shown in FIG. 6, in comparison to the background art, in which these data are set for all taught points, comprising both points at which the operational state of the work tool is switched and the points at which the path changes, the memory area occupied by these data can be considerably reduced.
  • the number of data set in the teaching operation are reduced, and there is no need to manually adjust the posture of robot body 2 while teaching the movement of spray gun 1 (as the movement data have already been created), so that along path 4 the on/off position of the spray alone can be considered.
  • the teaching operation becomes easy, and teaching can be accomplished in a short time.
  • the quality of the teaching program is increased.
  • the above preferred embodiment incorporates the PTP teaching system; however, it Is acceptable to adapt the present preferred embodiment to a CP teaching system robot.
  • the positional data 15 of robot body 2 and the operational data 16 of the work tool are all stored at previously determined sampling cycles.
  • the numbers of these data become the values excluded at the sampling cycle of the regeneration time (work time) of the teaching program. For example, when the regeneration time is set at 60 sec, and the sampling cycle at 20 msec, the number of the data becomes 3000, and if, for example, the necessary amount of memory for one operational datum 16 is set at 2 bytes, 6000 bytes of memory will be necessary for operational data 16 alone.
  • the operation of the robot body is taught, and after this the robot body is operated and the teaching of operational data of spray gun 1 is carried out at positions where the spray is to be turned on and off.
  • the above preferred embodiment embodies one spray gun attached as a work tool, but a plurality of work tools are possible, and furthermore, there is no limitation as regards the spray gun, but rather a welding torch or hand or the like are possible.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
US08/015,681 1990-01-19 1993-02-09 Method of control for an industrial robot Expired - Lifetime US5327058A (en)

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JP2-9543 1990-01-19
JP2009543A JPH0736989B2 (ja) 1990-01-19 1990-01-19 工業用ロボットの制御方法
US64235791A 1991-01-17 1991-01-17
US08/015,681 US5327058A (en) 1990-01-19 1993-02-09 Method of control for an industrial robot

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JP (1) JPH0736989B2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
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Cited By (17)

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Publication number Priority date Publication date Assignee Title
US5572103A (en) * 1993-09-14 1996-11-05 Fanuc, Ltd. Robot teaching program correction method
EP0844103A1 (de) * 1996-11-22 1998-05-27 Bush Industries, Inc. Verfahren und Vorrichtung zum Aufbringen eines Dekors auf einen Gegenstand
US5959425A (en) * 1998-10-15 1999-09-28 Fanuc Robotics North America, Inc. Vision guided automatic robotic path teaching method
US6414711B2 (en) * 1995-09-06 2002-07-02 Fanuc Ltd. Apparatus for correcting movement path of a robot and a method therefor
WO2002023288A3 (de) * 2000-09-16 2002-08-22 Festo Ag & Co Vorrichtung zur steuerung eines bewegungsablaufs, insbesondere einer pneumatischen und/oder elektrischen anlage
US20040193321A1 (en) * 2002-12-30 2004-09-30 Anfindsen Ole Arnt Method and a system for programming an industrial robot
US20060149421A1 (en) * 2004-12-21 2006-07-06 Fanuc Ltd Robot controller
US7853356B2 (en) 2006-04-14 2010-12-14 Fanuc Robotics America, Inc. Method for optimizing a robot program and a robot system
US8000837B2 (en) 2004-10-05 2011-08-16 J&L Group International, Llc Programmable load forming system, components thereof, and methods of use
US20120210935A1 (en) * 2009-10-30 2012-08-23 Lucien Johannes Nelen Application and inspection system
CN104549851A (zh) * 2015-01-04 2015-04-29 成都思达特电器有限公司 一种拟合待喷涂工件的喷涂节点的方法
US9221174B2 (en) 2012-03-07 2015-12-29 Canon Kabushiki Kaisha Robot controlling device, robot apparatus, robot control method, program for executing robot control method, and recording medium on which program is recorded
USD755867S1 (en) * 2013-10-07 2016-05-10 Jorge Juan Garcia Garcia Telescopic articulated arm
USD774580S1 (en) * 2014-09-26 2016-12-20 Fanuc Corporation Industrial robot
USD774578S1 (en) 2014-04-09 2016-12-20 Fanuc Corporation Industrial robot
USD774579S1 (en) * 2014-09-26 2016-12-20 Fanuc Corporation Industrial robot
CN110280413A (zh) * 2019-07-16 2019-09-27 华中科技大学无锡研究院 一种高铁车体的喷涂控制方法、控制装置及控制系统

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EP0530401B1 (de) * 1991-09-06 1996-07-24 Siemens Aktiengesellschaft Verfahren zum Auslösen von positionsbezogenen Schaltvorgängen während eines von einem Roboter oder einer Werkzeugmaschine ausgeführten Bearbeitungsvorganges
DE4326338C2 (de) * 1993-08-05 1996-07-18 Daimler Benz Aerospace Ag Schweißroboter
DE4339748A1 (de) * 1993-11-22 1995-05-24 Licentia Gmbh Verfahren und Anordnung zum Steuern einer Vielzahl von Spritzwerkzeugen für die Oberflächenbeschichtung von Fahrzeugen oder deren Teile
WO2002016091A1 (fr) * 2000-08-25 2002-02-28 Janome Sewing Machine Co., Ltd. Robot
DE10048749A1 (de) * 2000-09-29 2002-04-11 Josef Schucker Anordnung zum Aufbringen von Klebstoff auf ein Werkstück
DE10139932B4 (de) * 2001-08-14 2007-05-03 Siemens Ag Verfahren und Einrichtung zur positionsabhängigen Ereignisauslösung
JP2006122830A (ja) * 2004-10-29 2006-05-18 Trinity Ind Corp 塗装膜厚シミュレーション方法
EP1857901B1 (en) * 2006-05-19 2009-07-22 Abb As Improved method for controlling a robot TCP
JP6486005B2 (ja) 2014-01-17 2019-03-20 蛇の目ミシン工業株式会社 ロボット、ロボットの制御方法、及びロボットの制御プログラム

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Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5572103A (en) * 1993-09-14 1996-11-05 Fanuc, Ltd. Robot teaching program correction method
US6414711B2 (en) * 1995-09-06 2002-07-02 Fanuc Ltd. Apparatus for correcting movement path of a robot and a method therefor
EP0844103A1 (de) * 1996-11-22 1998-05-27 Bush Industries, Inc. Verfahren und Vorrichtung zum Aufbringen eines Dekors auf einen Gegenstand
US5916400A (en) * 1996-11-22 1999-06-29 Zaher; Maximillian Method and apparatus for manipulating an article for applying a decoration thereon
US5959425A (en) * 1998-10-15 1999-09-28 Fanuc Robotics North America, Inc. Vision guided automatic robotic path teaching method
WO2002023288A3 (de) * 2000-09-16 2002-08-22 Festo Ag & Co Vorrichtung zur steuerung eines bewegungsablaufs, insbesondere einer pneumatischen und/oder elektrischen anlage
US7209801B2 (en) 2002-12-30 2007-04-24 Abb Research Ltd Method and a system for programming an industrial robot
US20040193321A1 (en) * 2002-12-30 2004-09-30 Anfindsen Ole Arnt Method and a system for programming an industrial robot
US8000837B2 (en) 2004-10-05 2011-08-16 J&L Group International, Llc Programmable load forming system, components thereof, and methods of use
US20060149421A1 (en) * 2004-12-21 2006-07-06 Fanuc Ltd Robot controller
US7853356B2 (en) 2006-04-14 2010-12-14 Fanuc Robotics America, Inc. Method for optimizing a robot program and a robot system
US20120210935A1 (en) * 2009-10-30 2012-08-23 Lucien Johannes Nelen Application and inspection system
US9221174B2 (en) 2012-03-07 2015-12-29 Canon Kabushiki Kaisha Robot controlling device, robot apparatus, robot control method, program for executing robot control method, and recording medium on which program is recorded
USD755867S1 (en) * 2013-10-07 2016-05-10 Jorge Juan Garcia Garcia Telescopic articulated arm
USD774578S1 (en) 2014-04-09 2016-12-20 Fanuc Corporation Industrial robot
USD841707S1 (en) 2014-04-09 2019-02-26 Fanuc Corporation Industrial robot
USD774580S1 (en) * 2014-09-26 2016-12-20 Fanuc Corporation Industrial robot
USD774579S1 (en) * 2014-09-26 2016-12-20 Fanuc Corporation Industrial robot
CN104549851A (zh) * 2015-01-04 2015-04-29 成都思达特电器有限公司 一种拟合待喷涂工件的喷涂节点的方法
CN104549851B (zh) * 2015-01-04 2017-01-11 成都思达特电器有限公司 一种拟合待喷涂工件的喷涂节点的方法
CN110280413A (zh) * 2019-07-16 2019-09-27 华中科技大学无锡研究院 一种高铁车体的喷涂控制方法、控制装置及控制系统

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DE4101422C2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html) 1993-06-24
JPH03213283A (ja) 1991-09-18
JPH0736989B2 (ja) 1995-04-26
DE4101422A1 (de) 1991-07-25

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